An inverted pendulum model for reproducing human's body dynamics in waltz and its applications in a dance partner robot

Hongbo Wang, Kazuhiro Kosuge

研究成果: Conference contribution

4 引用 (Scopus)

抜粋

A linear inverted pendulum (LIPM) is used to model the human dancer's body dynamics in closed changes. Several assumptions are made: a controller is proposed to balance the LIPM; the dance frame is considered as a spring-damper connection; the two dancers are assumed to choose support positions independently. Motions generated by the model are compared with human's real motions. Results of comparisons suggest the model and the assumptions are effective in reproducing human dancers' body dynamics in waltz. Issues in implementing the model on a dance partner robot are discussed.

元の言語English
ホスト出版物のタイトル2010 IEEE/SICE International Symposium on System Integration
ホスト出版物のサブタイトルSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
ページ182-187
ページ数6
DOI
出版物ステータスPublished - 2010 12 1
イベント3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
継続期間: 2010 12 212010 12 22

出版物シリーズ

名前2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other3rd International Symposium on System Integration, SII 2010
Japan
Sendai
期間10/12/2110/12/22

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • これを引用

    Wang, H., & Kosuge, K. (2010). An inverted pendulum model for reproducing human's body dynamics in waltz and its applications in a dance partner robot. : 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings (pp. 182-187). [5708322] (2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings). https://doi.org/10.1109/SII.2010.5708322